From 784eee50cb1875d63e37ceef3a32d3238a47c843 Mon Sep 17 00:00:00 2001 From: YajiaZhang Date: Fri, 6 Apr 2018 11:31:40 -0700 Subject: [PATCH] planning: minor fix in trajectory evaluator --- .../lattice/trajectory_generation/trajectory_evaluator.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/modules/planning/lattice/trajectory_generation/trajectory_evaluator.cc b/modules/planning/lattice/trajectory_generation/trajectory_evaluator.cc index b33e424cb7..06c2ecd424 100644 --- a/modules/planning/lattice/trajectory_generation/trajectory_evaluator.cc +++ b/modules/planning/lattice/trajectory_generation/trajectory_evaluator.cc @@ -63,7 +63,8 @@ TrajectoryEvaluator::TrajectoryEvaluator( } for (const auto lon_trajectory : lon_trajectories) { double lon_end_s = lon_trajectory->Evaluate(0, end_time); - if (lon_end_s + FLAGS_lattice_stop_buffer > stop_point) { + if (init_s[0] < stop_point && + lon_end_s + FLAGS_lattice_stop_buffer > stop_point) { continue; } @@ -72,6 +73,7 @@ TrajectoryEvaluator::TrajectoryEvaluator( } for (const auto lat_trajectory : lat_trajectories) { /** + * The validity of the code needs to be verified. if (!ConstraintChecker1d::IsValidLateralTrajectory(*lat_trajectory, *lon_trajectory)) { continue; -- GitLab